#ifndef __PID_H
#define __PID_H

typedef struct 
{
    float kp;
    float ki;
    float kd;

    float target;
    float actual;
    float out;

    float error0;
    float error1;
    float errorInt;

    float outmax;
    float outmin;
    /* data */
}PID_t;
void PID_Update(PID_t *p);
// void PID_Update_dt(PID_t *p, float dt_s);


#endif
